Adaptive pole-placement control with filtered states and steady-state disturbance rejection

Proposes an algorithm for adaptive pole-assignment control using filtered state estimates for state feedback, instead of the traditional one-step prediction states. This results in the perturbation of the closed-loop zeros, in such manner as to ensure a significant reduction in the closed-loop output variance after pole assignment. The estimation and control algorithms are also modified to eliminate steady-state offsets to nonstationary disturbances.